Title :
Gyrobot: Control of Multiple Degree of Freedom Underactuated Mechanisms Using a Gyrating Link and Cyclic Braking
Author :
Gilbert, James M.
Author_Institution :
Univ. of Hull, Hull
Abstract :
A novel control strategy is introduced in which a multiple degree of freedom passive joint mechanism is augmented with a single continuously gyrating link. The gyrating link introduces coupling torques to the remaining joints, and the effect of these torques is controlled by cyclically applying holding brakes mounted on the passive joints. This allows position and trajectory control of the mechanism.
Keywords :
closed loop systems; feedback; gyroscopes; manipulator kinematics; multivariable control systems; position control; Gyrobot; continuously gyrating link; coupling torque; cyclic braking; holding brakes; passive joint mechanism; position control; trajectory control; underactuated mechanism; Actuators; Costs; End effectors; Linear feedback control systems; Motion control; Orbital robotics; Switching systems; Torque control; Variable structure systems; Wheels; Nonholonomic; space robots; switching systems; underactuated systems; variable structure systems;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2007.900632
